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Reliable adhesive capacity and sensitive distance feedback guarantee the stable operation of the robot. Consequently, an actively deformable claw equipped with multiple adhering and sensing units is developed, which can realize enveloping adhesion and distance feedback on a large curved surface. The flexible claw realizes an integrated design of the physical structure and coupling design of the excitation circuit. Both the adhering and sensing units use high\u2010permeability permalloy as their magnetic core and have the same closed magnetic circuit. Under the excitation of DC parallel with double winding, the electromagnetic adhesion effect is activated. Under the excitation of the AC series with unilateral winding, a self\u2010inductive microdisplacement sensor is realized. A fuzzy controller is established with the distance information of the sensing unit as the input and the joint angle and claw deformation as two outputs. A robot based on the fuzzy controller realizes automatic adhesion to surfaces with different curvatures and reliable applications in nuclear reaction equipment.<\/jats:p>","DOI":"10.1002\/aisy.202400800","type":"journal-article","created":{"date-parts":[[2025,2,17]],"date-time":"2025-02-17T22:15:21Z","timestamp":1739830521000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Electromagnetically Adhering and Self\u2010Inductive Sensing Claw for Continuum Climbing Robots: Design, Control, and Applications"],"prefix":"10.1002","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3810-5193","authenticated-orcid":false,"given":"Pengpeng","family":"Yang","sequence":"first","affiliation":[{"name":"School of Mechanical and Electrical Engineering Harbin Institute of Technology  Harbin 150001 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jialin","family":"Zang","sequence":"additional","affiliation":[{"name":"Institute of Equipment Reliability Nuclear Power Operations Research Institute  Shanghai 200120 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bo","family":"Huang","sequence":"additional","affiliation":[{"name":"Industrial Research Institute of Robotics and Intelligent Equipment Harbin Institute of Technology  Weihai 264209 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3426-9097","authenticated-orcid":false,"given":"Jianwen","family":"Zhao","sequence":"additional","affiliation":[{"name":"Industrial Research Institute of Robotics and Intelligent Equipment Harbin Institute of Technology  Weihai 264209 China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2025,2,17]]},"reference":[{"key":"e_1_2_11_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2013.09.002"},{"key":"e_1_2_11_3_1","doi-asserted-by":"publisher","DOI":"10.1080\/00295639.2020.1777023"},{"key":"e_1_2_11_4_1","doi-asserted-by":"crossref","unstructured":"M.Tavakoli C.Viegas L.Marques J. 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